![](http://datasheet.mmic.net.cn/30000/M32176F3TFP_datasheet_2359466/M32176F3TFP_11.png)
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13.2.3
CAN FExtended ID Registers -------------------------------------------------------------------------------- 13-21
13.2.4
CAN Configuration Registers -------------------------------------------------------------------------------- 13-22
13.2.5
CAN Timestamp Count Registers -------------------------------------------------------------------------- 13-24
13.2.6
CAN Error Count Registers ---------------------------------------------------------------------------------- 13-25
13.2.7
CAN Baud Rate Prescalers ---------------------------------------------------------------------------------- 13-26
13.2.8
CAN Interrupt Related Registers --------------------------------------------------------------------------- 13-27
13.2.9
CAN Cause of Error Registers ------------------------------------------------------------------------------ 13-45
13.2.10 CAN Mode Registers ------------------------------------------------------------------------------------------ 13-47
13.2.11
CAN DMA Transfer Request Select Registers ----------------------------------------------------------- 13-48
13.2.12 CAN Mask Registers ------------------------------------------------------------------------------------------ 13-49
13.2.13 CAN Single-Shot Mode Control Registers --------------------------------------------------------------- 13-53
13.2.14 CAN Message Slot Control Registers --------------------------------------------------------------------- 13-54
13.2.15 CAN Message Slots ------------------------------------------------------------------------------------------- 13-58
13.3 CAN Protocol ------------------------------------------------------------------------------------------------------------- 13-73
13.3.1
CAN Protocol Frames ----------------------------------------------------------------------------------------- 13-73
13.3.2
Data Formats during CAN Transmission/Reception -------------------------------------------------- 13-74
13.3.3
CAN Controller Error States --------------------------------------------------------------------------------- 13-75
13.4 Initializing the CAN Module -------------------------------------------------------------------------------------------- 13-76
13.4.1
Initializing the CAN Module ---------------------------------------------------------------------------------- 13-76
13.5 Transmitting Data Frames --------------------------------------------------------------------------------------------- 13-79
13.5.1
Data Frame Transmit Procedure --------------------------------------------------------------------------- 13-79
13.5.2
Data Frame Transmit Operation ---------------------------------------------------------------------------- 13-80
13.5.3
Transmit Abort Function -------------------------------------------------------------------------------------- 13-81
13.6 Receiving Data Frames ------------------------------------------------------------------------------------------------ 13-82
13.6.1
Data Frame Receive Procedure ---------------------------------------------------------------------------- 13-82
13.6.2
Data Frame Receive Operation ----------------------------------------------------------------------------- 13-83
13.6.3
Reading Out Received Data Frames ---------------------------------------------------------------------- 13-85
13.7 Transmitting Remote Frames ---------------------------------------------------------------------------------------- 13-87
13.7.1
Remote Frame Transmit Procedure ----------------------------------------------------------------------- 13-87
13.7.2
Remote Frame Transmit Operation ----------------------------------------------------------------------- 13-88
13.7.3
Reading Out Received Data Frames when Set for Remote Frame Transmission ------------ 13-90
13.8 Receiving Remote Frames -------------------------------------------------------------------------------------------- 13-92
13.8.1
Remote Frame Receive Procedure ------------------------------------------------------------------------ 13-92
13.8.2
Remote Frame Receive Operation ------------------------------------------------------------------------ 13-93
13.9 Precautions about CAN Module -------------------------------------------------------------------------------------- 13-96
CHAPTER 14 REAL TIME DEBUGGER (RTD)
14.1 Outline of the Real-Time Debugger (RTD) ------------------------------------------------------------------------ 14-2
14.2 Pin Functions of RTD ---------------------------------------------------------------------------------------------------- 14-3
14.3 RTD Related Register -------------------------------------------------------------------------------------------------- 14-3
14.3.1
RTD Write Function Disable Register --------------------------------------------------------------------- 14-3
14.4 Functional Description of RTD ----------------------------------------------------------------------------------------- 14-4
14.4.1
Outline of RTD Operation ------------------------------------------------------------------------------------ 14-4
14.4.2
Operation of RDR (Real-time RAM Content Output) ------------------------------------------------- 14-4
14.4.3
Operation of WRR (RAM Content Forcible Rewrite) --------------------------------------------------- 14-6
14.4.4
Operation of VER (Continuous Monitor) ----------------------------------------------------------------- 14-7
14.4.5
Operation of VEI (Interrupt Request) --------------------------------------------------------------------- 14-7
14.4.6
Operation of RCV (Recover from Runaway) -------------------------------------------------------------- 14-8